Automatic generation and display of animated figures



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Q N5 QHHQ M MWL a Q Q u E Z ATTo/QNEV United States Patent O 3,364,382AUTMATIC GENERATION AND DISPLAY Oli? ANIMA'IED FIGURES Lee Harrison Ill,Norristown, Pa., assignor to 'Control Image Corporation, New York, NX.,a corporation of Delaware Continuation of application Ser. No. 240,970,Nov. 29, 1962. This application Jan. 3, 1967, Ser. No. 607,078 53Claims. (Cl. SiS- 18) This is a continuation of Ser. No. 240,970, nowabandoned.

This invention relates to a system for generating one or more figures,animating the figures, and displaying the animated figures as a seriesof high frequency displays. The general object of the invention is toprovide a system whereby an operator can regulate a small number ofinputs to generate one or more animated three dimensional figures whichare thereafter resolved into two dimensions to produce an animateddisplay on a display tube.

Broadly speaking, this invention provides a system for generating anddisplaying a sequence of picture frames at a frame rate which iscompatible with the object of the display. If the display is fortransmission over television, the frame rate would be identical totelevision frame rate, or if the display is to be photographed, theframe rate would correspond to that for motion picture photography. Atany rate, the ultimate sequence of display can accommodate any motion ofthe display subjects including motions of human figures, cartoons andmoving objects.

The subject matter to be displayed is st-ored information available tothe system. This subject matter is animated by operation of the variableinputs to the machine, these inputs being any variable transducingelements, such as potentiometers or capacitors. These variable inputsare in circuits which relate to the solution of parametric equations tolocate the different parts of the subject matter in three dimensions. Assuch, the variable inputs may be hand or mechanically operated controls,or they may be designed to receive variable signals from potentiometersor capacitors connected directly to movable members of a physical bodyfor transmitting signals which vary in proportion to angular movementsof the movable members. Whatever the input, animation can be created byan operator and the displayed figure can be made to go through allmovements imaginable. In the case of live figure input, the system canbe made to reproduce movements of the ligure even though the figure bemany miles distant from the system.

The principal components of this system include a master oscillator orclock, circuitry for generating voltages representing the axes of thedifferent members of the figures and/or objects to be animated,hereinafter referred to as a bone generator network, and circuitry forgenerating voltages representing the radial distances of points on thesurfaces of the figures and objects from their respective axes,hereinatfer referred to as a skin generator network. The clock controlsthe operation of the bone and skin generator networks. The bonegenerator network includes a means for generating groups of pulses fordurations representing the lengths of various axes of members of figuresand objects, conveniently called bones. At the same time, variousvoltages are introduced to position these bones in three-dimensionalspace. The positioning voltages are treated by a network that generatesvarious trigonometric functions of the voltages which are parts ofdifferent parametric equations which must be solved to determine thedifferentpositions of different members being drawn. These trigonometricfunctions are then transmitted to an integrator the output of whichproduces voltages representing the instantaneous value of the bonepositions.

3,364,382 Patented Jan. 16, 1968 The skin generator network has a meansfor scanning stored information to modulate the magnitude of a variableskin vector according to the distance of the skin from the bone. Thisvariable length vector is treated by a network that superposes thetrigonometric functions of the positioning voltages to relate the skinvector to the proper bone, and thereafter the skin vector is added tothe bone.

The three-dimensional figure thus generated is transmitted to a cameraangle network that can select any viewing angle and can transpose thethree dimensions viewed from that angle into a two-dimensional displayon the face of the display tube.

An important object of the invention is to provide a system that permitsan operator to establish the levels of a plurality of variable inputsaccording to his desired animation pattern and that provides forrecording inputs for automatic regulation of the system upon playback ofthe recorder to produce an automatic animated display on the face of adisplay tube.

Another object of the invention is to provide a system for generatingand displaying animated sequences of one or more figures with provisionsfor controlling the variable inputs to generate and animate the figuresautomatically by stored information.

With the foregoing objects in mind, it is an object of this invention toprovide a fast, lower cost means of picture animation with such a broadrange of control and automation that the artistic range of the system islimited only by the operators imagination.

It is another object of the invention to provide automatic display ofthe motion of a figure wherein the generation of motion in the system isproduced by changes in low frequency, low bandwidth inputs so that theinformation dictatng changes in these low bandwidth inputs can ybetransmitted over communications means of low bandwidth capabilities.

A more specific object of the invention is to provide a system having anetwork for generating the bones of a figure, a network for generatingthe skin associated with those bones, and a network for adding the skinto the bones to produce a three-dimensional figure, and also having anetwork for viewing the three-dimensional figure from any angle anddisplaying the figure as thus viewed. An additional object is to providemeans for animating the figure,

Another specitic object of the invention is to provide means forgenerating and animating a figure for display by the successivegeneration of the physical members of the figure with means to preventoverlap of the display when the generation of more than one of thephysical members takes place at least in part over the same area of thedisplay.

Still another specific object of the invention is to provide a systemfor generating and displaying animated figures and for modulating theintensity of the display to incorporate the minute physicalcharacteristics of the tigure and to provide shading for the figure.

Other objects and advantages will be apparent to those skilled in theart.

In the drawing:

FIGURE l is a block and schematic diagram of the clock, integrator, andflyback networks;

FIGURE 2 is a block diagram of the step counters and bone gates;

FIGURE 3 is a block and schematic diagram of the sine-cosine functiongenerator;

FIGURE 4 is a block and schematic diagram of the equation solvingnetwork;

FIGURE 5 is a block and schematic diagram of the camera angle networkand the gross position network;

FIGURE 6 is a block and schematic diagram of the program network for theskin scanning network;

FIGURE 7 is a block and schematic diagram of the skin scanning network;

FIGURE 8 is a block and schematic diagram of the display tube, theoverlap prevention network, and the background information generator;

FIGURE 9 is a plan view of a typical skin iilm;

FIGURES 10-14 are geometric diagrams illustrating the general theory ofbone and skin generation;

FIGURE 15 is a geometric diagram illustrating the theory of generationof bones and skin for Mode Two operation;

FIGURES 16-18 are geometric diagrams illustrating the general theory ofthe camera angle network;

FIGURE 19 shows a typical gure display in Mode One operation;

FIGURE 2O shows a typical iigure display in Mode Two operation; and

FIGURE 21 is a block and schematic diagram of the recording network.

General theory .and analytical geometry of bone and ski/z generation forlllode 011e or full guie operation For purposes of illustration, theemphasis throughout the description of this invention centers upon thedrawing of a human figure or animated figure having physical limbs andmembers. The text describes how the gure is generated for display on theface of a display tube, explaining the generation of each series ofbones for the various parts of the gure, the generation of skin added tothese bones, and the animation of the figure. The immediateinvestigation concerns the general theory of bone and skin generation,and for this consideration a typical bone and the skin for that bone areanalyzed geometrically, as illustrated in FIGURES 10-14.

A typical bone is designated L in FIGURE 10, The bone is drawn at aconstant rate of speed so that its length depends upon the rate that thedrawing beam moves in drawing the bone and the period of time duringwhich the drawing occurs. The rate is a constant for a given mode ofoperation and may be designated k1. The time is variable and isdesignated t. Therefore, the length of the bone L is klt.

The bone L is a single straight line as shown in FIG- URE 10. Skin isadded to the bone by what may be regarded as a twirling vector A thatcontinues to rotate about the bone L. The vector A moves from the startof the bone to the end of the bone during the period of time t. As thebone L is generated, and during each incremental portion of the time t,the vector A rotates 360 about the bone L. (These increments of time twill be more readily understood hereinafter.) A typical revolution ofthe end of the vector A is indicated in dotted lines P on FIGURE 10. Thedrawing ultimately made on the display tube depends upon the position ofthe tip or end of this vector A.

As viewed in FIGURES 10 and 11,'the vector A may be thought of asrotating in a clockwise direction. It rotates at a constant angularspeed the rate of which may be designated K2. Therefore, the angularposition of the vector A depends upon the product Kzz.

The generation of the bone L will be considered rst. Since theinformation available for display consists of voltages representing athree-dimensional gure, FIG- URE 10 shows the bone L in reference tothree-dimensional axes X, Y and Z. The angle that the projection of thebone L in the X, Y plane makes with the X axis is designated 0. Theangle that the bone L makes with the bone L makes with the X, Y plane isdesignated qb. An examination of FIGURE 10 reveals the X, Y and Zcomponents of the bone L.

The length of the projection of the bone L on the X, Y plane is equal toL cos qb. Therefore, X:L cos qb cos 0. But since the length of the boneL is kll, x=k1z cos 0 cos q).

It follows that Y-Jclr sin 0 cos qb and Zzkll sin qb.

In considering the generation of skin for the bone L,

it may be assumed that the vector A always rotates in a planeperpendicular to the bone, although this angle may be varied. In FIGURES10-13, the plane of rotation of the vector A is drawn perpendicular tothe bone L. As already mentioned, the angular position of the vector Adepends upon the product k2t. FIGURE 1l shows this plane of rotation ofthe vector A and is drawn perpendicular to the bone L. As shown inFIGURE l1, the vector A always has two components that vary with thecosine and sine of the angle kzz. The length of these components are Acos 1:21* and A sin kzl. These components are shown on FIGURE 11 withthe appropriate legends.

FIGURES 12, 13 and 14 show how the skin vector A is resolved into its X,Y and Z components. The coordinates of FIGURE 12 are the Z axis and theX, Y plane and the plane of FIGURE 12 is defined by the Z axis, the boneL, and the projection of the bone L on the X, Y plane, that projectionbearing the legend L cos qb in FIGURE 10. Since FIGURE l2 shows the boneL in its true length, it views the plane of rotation of the vector Afrom the side. Therefore, that plane, designated P, appears as astraight line in FIGURE 12, normal to the `bone L, and with the lengthabove the bone L and the length below the bone L each being equal to Acos k2t. Since the angle between the plane P and a vertical line drawnfrom the end of the bone L is equal to qb, a horizon-tal line connectingthat vertical line with the end of the plane P is equal to A sin qb cosk2t. In other words, the projection of the A cos kzt vector on the X,Yplane abscissa of FIGURE 12 equals A sin qb cos kzt. The projection ofthis A cos kzt vector on hte Z axis equals A cos qb cos kzz, which isthe Z component of the A vector, since in FIGURE 12, A sin k2=0.

FIGURE 13 is a plane through the X and Y coordinates projected fromFIGURE 12. In this view, the maximum length of a line drawn from the endof the L cos qb projection to the outer extremity of the plane P isequal to the A sin kgz component of the vector A. Since the anglebetween the L cos qb projection and the X axis is 0, the component A sink2t can be resolved into its X and Y components as indicated, wherebythe X component is A sin H sin kzt and the Y component is A cos 0 sink2t.

In FIGURE 13, the projection A sin qb cos kzt is also shown, and asillustrated in FIGURE 14, this component may be resolved into X and Ycomponents whereby the X component is A cos 0 sin qb cos kgt, and the Ycomponent is A sin 0 sin qb cos kgt.

Since the vector A rotates 360 about the bone L, its X, Y and Zcomponents will vary between positive and negative values. However, froman examination of the direction of the 4vectors illustrated in FIGURES13 and 14, it can rbe seen that the net X component of the vector A isalways equal to the difference between the quantities A cos 0 sin qb coskzt and A sin 0 sin kzt, and the Y component of the vector A is alwaysequal to the sum of the components A sin 0 sin qu cos kzt and A cos 0sin kzt.

From the foregoing description, it is evident that the components forthe generation of the bone L with skin are as follows:

X=k1t cos 6 cos qb-I-A cos 6 sin qb cos kZt-A sin H sin k2t Yzklz sin 0cos qi-j-A sin 0 sin qb cos kZt-l-A cos 0 sin kg Z=k1t sin qb-j-A cos qbcos kzt Bone and skin generation for mode Iwo or )gure outline As willbe explained hereinafter, there are times, especially during rapidanimation, when only an outline of the figure is to be drawn. For ModeTwo operation, the gure displayed on the face of the display tube showsonly an outline of the skin in the X, Y plane.

For Mode Two, an appropriate constant is substituted for the highfrequency sinusoidal factors sin kzt and cos k2t of the generalequations for X, Y, and Z. These equations then represent the generationof skin volume. In other words the twirling vector A is no longertwirling, and the specific case of interest is the solution to the,

general equations when legt-:90 and k2t=-90, that is, when the vector Ais parallel to the viewing plane, for this case the XY plane. (Theselection of i90 for angle kgz is in keeping with the phase coordinatesof vector A which were used to develop the general equations. In otherwords (FIGURE 13) when k2t=90, A sin k2t=A 1:14.)

Therefore, by substituting the values i90 for k2! in the X, Y and Zcomponents of the general equations, the resulting equations are:

In this particular case there is no Z component of A, and the ligurebeing generated may 'be thought of as being bat.

FIGURE l5 illustrates the theory of skin and bone generation for ModeTwo. In Mode Two, the generation of the X, Y and Z components for thebone L is the same as was described in connection with FIGURES -14. Toadd the X, Y and Z components of the skin outline, it is only necessaryto determine the X, Y and Z components of the circumference of thecircle P generated by rotation of the vector A. The radius of thiscircle P is A. Referring to FIGURE 15, it is evident that the projectionof the vector A in the XY plane does not change the Ylength of thevector A. Since the angle that this projection A of the vector A makeswith a line D drawn normal to the axis A is 0, it follows that the Xcomponent of the vector A is A sin 9 and the Y component is A cos 6.

Accordingly, the equations for the X, Y and Z components of the bone andskin are as follows:

In these equations, the A component may be positive or negative.

Geometric theory of camera angle network-resolution into' two dimensionsThe three-dimensional ligure must be resolved into horizontal H andvertical V components for display on the face of the display tube. To dothis, the three components X, Y and Z of the three-dimensional liguremust be resolved into two components H and V.

To illustrate this resolution, it may be assumed that the X, Y and Zaxes of FIGURE 16 represent the X, Y and Z components of `a point thatis to be resolved into two components. As the system is illustrated, theentire figure is rotatable about the Z axis. The angle through whichthis rotation occurs is designated a as indicated in FIG- URE 17. Thisrotation produces new coordinates X 'and Y wherein X=X cos ar-i-Y sin aand Y.=Y cos a-X sin a The system also provides for rotation of the Y Zplane about the X axis, as illustrated in FIGURE 18. This angle ofrotation is designated b and establishes two axes Y and Z. This rotationof FIGURE 18 produces the quantities Y=Y' cos b-Z sin b and From ananalysis of FIGURES 17 and 18, it is apparent that the quantities X andY may be used to represent two dimensional axes wherein variations ofthe angles a and b permit viewing of a three-dimensional figure from anyangle. Therefore, the components of -the display scope are as follows:

H=X cos a-l-Y sin a V=(Y cos a-X sin a) cos b--Z sin b ,Clock controlReferring to FIGURE l, the entire system is regulated and controlled bya 'high frequency master oscillator 1t).

d A cathode ray display tube 11, shown in FIGURE 8, develops a displaythat can be photographed. The network between the master oscillator orclock 10 and the display tube 11 determine the nature of the display.

The clock 1l) has two wave outputs 12 and 14. The frequencies of thewaves at the outputs 12 and 14 are the same, but one of the outputs 12is a square wave and the other one 14 is a conventional sine wave. Thesine wave 14 generated by the master oscillator is itself used in thesystem, and this sine wave output is also fed through a phase shifter 15the output 16 of which is a cosine wave 90 out of phase with, but of thesame frequency as, the sine wave output 14. The functions of the sinewave output 14 and the cosine wave output 16 will be describedhereinafter.

The square wave output 12 is carried to the successive inputs of aseries of bistable multivibrators 18, 19, 26, 21, 22 and 23N, each ofwhich halves the frequency of its input. (Here and elsewhere in thisdescription the suix N is used to indicate there may be a variation inthe uumber of devices used.) Each of the bistable multivibrators has anoutput 2.4, 2S, 26, 27, 28 and 29N, respectively, which, except for thelast output 29N, is connected to the input of the next succeedingmultivibrator. An appropriate number of such multivibrators IS-ZSNA areused, so that the frequency of the output of the last multivibrator 23Nis equal to an acceptable frame frequency ultimately used for thedisplay to be photographed. For example, an acceptable and conventionalframe frequency for motion picture films is twenty-four frames persecond. Therefore, if six bistable multivibrators 18-23N a-re used, thefrequency of the square wave 12 (and the sine wave 14) generated by themaster oscillator is set at 1536 cycles per second. Accordingly, changesin the output frequency of the master oscillator produce changes in theframe frequency unless additional multivibrators 11S-23N are used. Sincethe master oscillator 10 regulates everything else in the system, anysuch change in its frequency also causes other system operations toremain synchronized with the frame frequency. As will be evidenthereinafter, the higher the frequency of the master oscillator 10, thegreater will be `the resolution of the final picture displayed. A higherfrequency oscillator merely requires the use of additionalmultivibrators liti-23N.

The outputs 24-29N from them ultivibrators are also delivered throughcathode followers 30, 31, 32, 33, 34 and 35N, respectively (or through'buffer amplifiers or similar devices to stabilize the back impedance asis convention-al in the art), to individual terminal plugs 36, 37, 38,39, 40 and 41N, respectively. It is possible that during operation ofthe system not all of the bistable multivibrator outputs 2.4-29N will beused, except as an input to lthe next multivibrator, but the lastmultivibrator 23N always feeds its frame frequency square wave output29N through a conductor ft2 to the first of a series of storage countersor step counters 46, 47, 48, 49 and 50N (see FIGURE 2). The lframe pulseoutput 29N is also used for other purposes that will be described.

Bone generators inputs is connected to one of the terminal plugs 36, 37,33,

39, 40 or 41N. Although not always, the inputs 52-56N are sometimesconnected to a common terminal plug, such as to the plug 37 as indicatedby dotted lines on the drawing. The length of the bone being drawn, andthe capacity of the storage counter determines the choice of connections36-41N. Each storage counter counts a variable number of pulsestransmitted to its inputs 52, 53, 54, 55 or 56N.

The duration of the set state of each storage counter is controlled byan intrinsic capacitive network (not shown) wherein the capacitor isvariable to provide independent regulation of the set state for eachstorage counter. These variable capacitors may be controlled byconventional hand controls 37, 58, 59, 6d and 61N associated with thestorage counters 465914, respectively. The setting of a variablecapacitor, such as the control 57, determines the number of pulsespresented to the input 52 that the storage counter 46 will count.

Although only five storage counters 46-5tlN are illustrated, there areactually a much larger number. The storage counters are in convenientgroups of various number depending upon what object they are associatedwith. For example, if a human figure is to be drawn, there may be fourstorage counters 46, 47, 43 and 49 for serially stepping off lengths ofa placement bone, the upper arm bone, the lower arm bone, and the hand.For purposes of illustration, the four storage counters 46, 47, 48 and49 constitute such an arm group and the storage counter 50N may bethought of as the first of a series constituting another group, as a leggroup.

The rst storage counter 46 is triggered by the frame pulse 29N (seeFIGURE l) transmitted through the conductor 42 and ips to its set statefor a duration determined jointly by its input 52 and the control 57.The storage counter 46 has an output 67 the Voltage level of whichchanges when the storage counter changes states. This change in theoutput voltage 67 is fed through a cathode follower 63 (or bufferamplifier) and provides a common (operating) input to a blank of gates69, 70, 71 and 72 to open the gates for the period of time the storagecounter 46 is in its set or pulse counting state.

The step counter 46 automatically flips back to its reset or quiescentstate at the end of the period determined by the input 52 and thecontrol 57. At this time, the storage counter 46 delivers a voltage toanother output 74, which voltage is of the correct value to flip thenext storage counter 47 to its set state. For the duration of the setstate of the storage counter 47, which is determined by its input 53 andthe control 53, a change in voltage at an output 75 occurs which is fedthrough a cathode follower 76 and simultaneously opens a bank of gates77, '73, 79 and 8). Upon flipping back to its reset state, the storagecounter 47 generates a voltage at another output 82 that is of propervalue to ip the next storage couner 48.

The storage counters 43 and 49 are connected to operate like the storagecounters already described. Thus, the storage counter 4S has an output83 fed through a cathode follower 84 that opens a bank of gates 85, 86,87 and 38 during the set state and an output 90 that causes the nextstorage counter 49 to flip to its set state. The storage counter 49 hasan output 91 that goes through a cathode follower 92 and opens a bank ofgates 93, 94, 95 and 96 and an output 93 that flips the next storagecounter. However, the storage counter 49 is lthe last one of the armgroup, which leads to the significance of the and gates and or gates.

In the preceding description, it was assumed that the storage counters46-49 were directly connected together in a series chain. Actually, theinput pulse 42 to the first storage counter must first pass through anor gate 110. The output 74 from the storage counter 46 must pass throughan and gate 111 and an or gate 112 before it can trigger the storagecounter 47. The output 32 from the step counter 47 must pass through anand gate 113 and an or gate 114 before it can trigger the storagecounter 43. And the output 919 from the storage counter 43 must passthrough an and gate 115 and an or gate 116 before it can trigger thestorage counter 49. Also, the output 93 from the last storage counter 349 of the arm group is delivered as an input to an and gate 117.

There is an in-out bistable multivibrator 120 having an out inputconductor 121 connected to the output conductor 42 from the frame pulsemultivibrator 23N. Therefore, when a trigger pulse is transmitted to theor gate 110, it is also delivered to the multivibrator 121) and flipsthe multivibrator to its out condition. The multivibrator 121i has anout output 122 that passes a volta-ge when the multivibrator is in theout condition. This output is delivered as inputs 123, 124, 125 and 126to the and gates 111, 113, 115 and 117, respectively.

The in-out multivibrator 120 also has an in input 123 connected to theoutput from the and gate 117 on the output side of the storage counter49. A signal in the in input 123 flips the multivibrator 120 to its incondition. There is an in output conductor 129 that receives a voltagewhen the multivibrator is in its in condition. This conductorsimultaneously delivers whatever Voltage it carries to a group of andgates 130, 131, 132 and 133.

Another input conductor 134 to the and gate 13G is connected from theoutput side of the storage counter 49. An input conductor 135 to the andgate 131 is connected from the output side of the step counter 48. Aninput conductor 136 to the and gate 132 is connected from the outputside of the step counter 47. And an input conductor 137 to the and gate133 is connected from the output of the step counter 46.

The and gate 117 has an output conductor 138 connected as an input tothe or gate 116 on the input side of the step counter 49. The and gate130 has an output conductor 139 connected as an input to the or7 gate114. The and gate 131 has an output conductor 140 connected to the inputside of the or gate 112. The and gate 132 has an output conductor 141connected to the input side of the or gate 110.

The and gate 133 has an output conductor 142 connected to the input sideof another or gate 143 leading to the first step counter 66N of the next(leg) group of step counters. This step counter 50N has an output 145that is connected through a cathode follower 146 to a bank of gates147N, 148N, 149N and 153N.

The several and gates and or gates just described are of conventionalconstruction. Each and gate transmits an output signal only when thereare simultaneous inputs at both its inputs. Each or gate acts as a valvethat will pass a voltage at either of its inputs to its output, but notto the other input.

With the bistable multivibrator 120 hooked up as described, it isilipped to its out condition Whenever a frame pulse from the lastmultivibrator 23N passes through the conductor 121. While themultivibrator 120 is in its out condition, it passes a voltage throughthe out output 122. At this time, there is no signal in the in outputconductor 129. Hence the and gates 130, 131, 132 and 133 pass no signalthrough their output conductors 139, 140, 141 and 142 to the or gates114, 112 and 110 and 143. Under these conditions, the signal from theconductor 42 can pass through the or gate 110 to the step counter 46.Since the out conductor 122 is delivering a voltage to the and gate 111,when an output voltage from the step counter 46 reaches the and gate 111it passes through to the or gate 112 and thence to the step counter 47.Likewise, the output 32 from the step counter 47 passes through the andgate 113 and the or gate 114 to the step counter 48, and the output 9@from the step counter 48 passes through the and gate 115 and the or gate116 to the step counter 49.

When the storage counter 49 delivers a voltage to its output 98, thatvoltage passes through the and gate 117 to its output conductor 133 andalso through the in input conductor 128 to the in-out bistablemultivibrator 120. This flips the multivibrator 120 to its in condition,

blocking off the out output 122 and causing the trans` mission of avoltage through the in output conductor 129. Now the conductor 122 isdelivering no input voltage to the and gates 111, 113, 115 and 117 sothese gates cannot pass any voltages from the storage counters; but theconductor 129 transmits its voltage as inputs to the and gates 131i,131, 132 and 133.

Under these conditions, the output voltage 138 passes through the orgate 116 and tlips the storage counter 49 to its set state. When thestorage counter 49 ilips back to its reset state, its output voltage 98cannot pass through the and gate 117, but is provides a second input tothe and gate 130 and passes through the conductor 139 to the or gate114. The or gate 114 passes this voltage and triggers the storagecounter 48.

The output 90 from the storage counter 48 cannot pass through the andgate 115, but does pass through the and gate 131, the conductor 140, andthe or gate 112 to trigger the storage counter 47. The output 82 fromthe storage counter 47 passes through the and gate 132 and the or gate118 to trigger the iirst storage counter 46. Then the output 74 from thestorage counter 46 passes through the and gate 133 and the conductor 142to the or gate 143 and the iirst step counter 50N of the next (leg)group.

Of course each time these storage counters are iiipped to their setstates, they cause those gates which are connected to their outptus toopen as has been described. Therefore, during the in7 condition of thein-out bistable multivibrator 120, there is an exact reversal in theorder of operation of the storage counters and their associated gates.

The iirst gate of each bank is a 6 gate. Thus, the gates 69, 77, 85, 93and 147N are 6 gates connected to the successive outputs of the storagecounters 46, 47, 48, 49 and 58N as has been described. These 9 gateshave variable DC (or other) inputs 160, 161, 162, 163 and 164N, themagnitudes of which may be independently regulated by hand controlledpotentiometers or any number of other means. These DC voltage inputs arepassed to the respective gate outputs 166, 167, 16S, 169 and 170N, allof which outputs are connected to a common conductor 171.

The next gates 70, 78, 86, 94 and 148N are the tp gates. These gateshave variable DC voltage or other inputs 173, 174, 175, 176, and 177N,which may also be regulated by hand controlled potentiometers. These fpgates have outputs 178, 179, 181B, 181, and 182N which are connected toa common conductor 183.

The gates 71, 79, 87, 95 and 149N are r gates for establishing certainrotational conditions, and the gates 72, 80, 88, 96, and '0N are i gatesfor regulating the intensity of the display beam. These gates and thisfunction will be described in detail hereinafter.

Sine-cosine function generator The conductor 171 which carries a voltagerepresenting the magnitude of the angle 0 for whatever bone is beingdrawn is connected-through a resistor 186 to the input side of anoperational ampliiier 187 (see FIGURE 3). Another input conductor 188through a resistor 189 to the operational amplifier 187 comes from thein-out bistable multivibrator 120. A pulse in the conductor 188 operatesto shift the angle 6 180 during the in condition of the multivibrator120. Therefore, the output 190 from the operational amplifier 187represents either the angle 0 (during the out condition of themultivibrator 120) or a 180 inversion of the angle 0 (during the incondition of the multivibrator 120).

The conductor 183 that carries the outputs from the qb gates 173 through17'7N is connected through a resistor 192 to an operational amplifier193. These is another input conductor 194 to the operational amplifier193 that is connected from the bistable multivibrator 12.0 to shift theangle qb by 180 when the multivibrator 120 is in its in condition. Hencethe operational amplifier 193 has an CFI It is practical to performoperations on the quantity @+o and 0- p, thereby eliminating variousmultiplication steps which are more expensive to do electronically.

To obtain the quantity H-l-go, the outputs and 19S from the operationalampliers 187 and 193 are delivered through a pair of conductors 197 and198, respectively, to an operational ampliiier 199 hooked up as anadder. The voltage at the output 280 from the operational amplifier 199represents the quantity 0-l- ,o.

These same voltages 190 and 195 are delivered through another pair ofconductors 202 and 283 to another operational arnpliiier 204 connectedas a subtractor and having an output 205 representing the quantity 6- p.

The output 2011 from the operational amplifier 199 is a constant DCvoltage (during the generation of a straight bone) that is fed `througha monostable delay multivibrator 207. The delay multivibrator 207 hasanother input 208 which is connected to the output of the rst bistablemultivibrator 18 on the output side of the master oscillator 19.Therefore, the input 208 to the delay multivibrator is a square wavesynchronized with, but at onehalf, the frcquency ot the output of themaster oscillator 1li.

The start of the square Wave pulse at the input 208 i'lips the delaymultivibrator 207 to its quasi-stable state. The duration of thisquasi-stable state is determined by the DC voltage at the input Z011 andis therefore determined by the magnitude of the quantity H-i-p.

Since the input 208 is taken at the output of the rst bistablemultivibrator 18 which is one-half the frequency of the masteroscillator 18, a single square wave pulse occurs. at the input 2118during the period of two complete sine waves at the output of the masteroscillator 10. Therefore, during this period of time, the sine waveoutput 14 from the master oscillator 10 goes through the cycle ofrepresenting the sine of the angles 0 through 360 twice. This multiplemay vary if greater range is desired. The voltage in the conductor 2011representing the quantity 0-{p determines the duration that themonostable multivibrator 2G17 is in its quasi-stable state. The output209 from the delay multivibrator is differentiated and clipped toproduce a narrow pulse representing the change of state fromquasi-stable to stable condition. When the multivibrator 2117 iiips backto its stable state, its output 2819 which is connected to the input ofa monostable multivibrator 210 causes the multivibrator 210 to generatean extremely narrow pulse at its output 211. This narrow pulse at theoutput 211 thus occurs at a time reference to the clock sine wave thatis directly related to the magnitude of the quantity f-i-(p put into thedelay multivibrator 207.

The narrowpulse-carrying conductor 211 is connected to open two samplergates 214 and 215 for the very short period of time corresponding to thelength of the narrow pulse. The input to the sampler gate 214 ijs theconductor 14 carrying the sine wave output from the master oscillator10, and the input to the sampler gate 215 is the conductor 16 carryingthe cosine Wave output from the 90 phase shifter 15 on the output sideof the master oscillator 11i. Therefore, each time the narrow pulseoccurs in the conductor 211, a small portion of the sine wave is sampledby the gate 21d, and a small portion of the cosine wave is sampled bythe gate 215. Since the sine and cosine waves 14 and 16, respectively,are synchronized with the square aserssz wave input 208 to the delaymultivibrator 267, and the delay voltage 26@ is proportional to -l-e,the sine and cosine waves sampled represent the sine and cosine,respectively, of the quantity p.

The output conductor 216 from the sampler gate 214 delivers its voltageto a holding capacitor 217 and the output conductor 218 from the samplergate 215 delivers its output to a holding capacitor 219.

The course of the voltage in the conductor 265 representing the quantity0 p will now be apparent. This voltage is delivered to a delaymonostable multivibrator 222 having the same square wave input 2138 thatis the input to the previously discussed delay multivibrator 267. Themagnitude of the voltage 205 representing the quantity 0 p determinesthe duration of the unstable state of the delay multivibrator 222 andthe output 223 from the delay multivibrator 222, which occurs when .themultivibrator ips from its unstable state back to its stable state,triggers a narrow pulse generator 224. The narrow pulse output 225 fromthe multivibrator 224 opens a pair of sampler gates 226 and 227, theinputs to which are the sine wave 14 and the cosine wave 16 from themaster oscillator 1t). The quick sampling of these sine and cosine wavesin the samplers 226 and 227 produces voltage outputs 228 and 229representing the sine of 0 p and the cosine of 0- p, respectively. Thesevoltages are delivered to holding capacitors 236 and 231, respectively.

The equations set forth in the general theory of bone generationindicate that voltages representing the sine and cosine of and the sineand cosine of p are also needed. To obtain these voltages, a conductor235 connected to the output 196 of the operational amplifier 137 carriesthe voltage representing the angle 0 (or its 180 counterpart) to anoperational amplifier 236, the output 237 of which is is fed to a delaymonostable multivibrator 238. The input to the multivibrator 23S is thesquare wave input 208 which flips the multivibrator to its quasi-stablestate, and the magnitude of the input voltage 237 determines theduration of the unstable state. The output 239l from the delaymultivibrator 238 triggers a narrow pulse generator 241i, the narrowpulse output 241 of which is fed to a pair of sampler gates 242 and241.13. The input to the gate 242 is the sine wave 14 and the input tothe gate 243 is the cosine wave 16. When the narrow pulse 241 opens thegates 2412 and 243 they sample the sine and cosine Waves and delivertheir outputs and 245 to holding capacitors 246 and 247, respectively.The voltages stored in these capacitors 2/6 and 247 represent the sineand cosine of the angle 6.

The output voltage 195 from the operational amplifier 193 is carried bya conductor 250 to an operational amplifier 251, the output 252 of whichis delivered to a delay monostable multivibrator 253. The multivibrator253 has the square wave input 208 and has an output 254 occurring at atime determined by the magnitude of the DC input 252. The pulse 254triggers a narrow pulse generator 255. The output 256 from the narrowpulse generator is delivered to a pair of sampler gates 257 and 258 oneof which has the sine wave input 14 and the other of which has thecosine wave input 16. The output 259 from the sampler gate 257 is avoltage representing the sine qb and is delivered to a holding capacitor260. The output 261 from the sampler gate S is a voltage representingthe cosine q and is delivered to a holding capacitor 262.

From the foregoing it is evident that the holding capacitors 217, 219,230, 231, 246, 247, 266 and 262 store voltages representing the sine(6H- 15), cosine (o-t-qb) sine (t9-qi), cosine (-q), sine 0, cosine 0,sine qi), and cosine qt. These holding capacitors actually receive anumber of sampled voltages each representing the appropriate sine orcosine function, because each sampler gate is opened a number of timesduring the generation of a bone. For example, the delay multivibrator207 is dipped each time it receives a square wave input and thereforedelivers successive narrow pulse outputs to the narrow pulse generator216. The series of narrow straight sided pulses at the output of thegenerator 210 cause successive sarnplings of the sine and cosine wavesin the sampler gates 214 and 215 with these sample voltages beingdelivered to the holding capacitors 217 and 219. Normally, these holdingcapacitors may receive about l5 to 2() sampled pulses during thegeneration of a bone.

There is a buffer amplifier 263 on the output side of each holdingcapacitor 217, 219, 231i, 231, 246, 247, 260 and 262. The amplifiers 263present a high output impedance to the holding capacitors, allowing thecapacitors to hold accurate, unrippled, sampled voltages.

These sine and cosine functions could be generated in other Ways. Forexample, the inputs to the 0 gates 69, 77, etc., could be DC valuespreviously resolved into sinecosine values by potentiometers, requiring,however, another row of 0 gates. Similarly the p gates 76, 7S etc.,could have sine and cosine inputs. Any appropriate sinecosine functiongenerator may be used.

Bone integrators To get quantities representing the X, Y and Zcomponents of a bone being drawn, there are an X integrator 265, a Yintegrator 266, and a Z integrator 267 shown in FlGURE 1. The Xintegrator 265 comprises a high gain amplifier 268 with a feed backcapacitor 269 connected across it. The Y integrator 266 comprises a highgain amplifier 270 with a feed back capacitor 271 connected across it.The Z integrator at 267 comprises a high gain amplifier 272 with a feedback capacitor 273 connected across it. The input to the X integrator265 includes the voltage representing the quantity cos (t2-Hp) from theholding capacitor 219 through the amplifier 263 delivered by a conductor275 through a resistor 276 to an input conductor 277; and a voltagerepresenting the quantity cos (0-) from the holding capacitor 231carried by a conductor 278 through a resistor 279 to the input conduetor277. The quantities cos (5H-qs) and cos (t9-rp) are halved and added bythe resistors 276 and 279, and the sum is presented to the input 277 ofthe integrator 265. From the equations set forth in the general theoryof bone generation, the trigonometric equivalent to this sum is thequantity cos 0 cos e. Since the input 277 to the integrator 265 is a DCvoltage, the output 280 from the integrator 265 is a ramp functionrepresenting the quantity klt cos 0 cos gb wherein k1 is a constantdetermined by the resistors 276 and 279 and the capacitor 269 and t isthe time variable. The charge on the feed back capacitor 269 determinesthe starting point of the ramp function klt cos 0 cos e, which startingpoint will be coincident with the ending point of the previous output289 so long as the capacitor 269 is not discharged. Thus, unless thecapacitor 26g is discharged, successive bones are joined together end toend as they are drawn or generated.

The input to the Y integrator 266 includes the voltage representing thequantity sin (IH-(p) delivered from the holding capacitor 217 by aconductor 28S through a resistor 286 to an input conductor 237 of theamplifier 27); and the Voltage representing the quantity sin (c-e)delivered from the holding capacitor 230 by a conductor 288 through aresistor 289 to the input conductor 287. Thus, the quantities sin (6H-p)and sin (-b) are halved and added together and presented to theintegrator 266, but this input is equivalent to the quantity sin 0 cos15. The ouput 29) from the integrator is a ramp function representingthe quantity klt sin 0 cos qb. The starting point of the output 291) isdetermined by the presence or absence of a charge on the feed backcapacitor 271.

The input to the Z integrator 267 is a voltage representing the quantitysin Q5 which is delivered from the holding capacitor 260 by a conductor292 through a resistor 293 to the integrator amplifier 272. The outputFlGURE 7 and its purpose is to scan a film 341, shown in FIGURE 9, toobtain a varying voltage, the instantaneous value of which representsthe magnitude of the vector A. Thus, the magnitude of the vector A maybe continuously changing as the vector twirls around a bone, and thepurpose of the scanner 3d@ is to produce an output voltage that variesin proportion to the changes in length of the vector A.

A typica-l film 341 to be scanned might be divided into sections 342,343, 344 and 345 as shown in FIGURE 9. Each section is characterized byvariations in density representing 360 or more of skin around the bonesof various parts of a figure. These variations in density areproportional to the incremental lengths of the vector A `for an arm insection 342, a leg in section 343, the chest, neck and head in section3M, and the hip in section 345.

`Referring to lFIGURE 7, the film 341 is placed in a film holder 347,positioned between a cathode ray tube 348 and a photomultiplier tube349. There are appropriate lenses including an object lens `350 in frontof the cathode ray tube 348, and condensing lenses 351 in front of thephotomultiplier tube 349. When properly programmed, the .beam of thecathode ray tube 348 scans the `film 341 and valying intensities of thebeam are focused through the condensing lenses 351 to thephotomultiplier tube 349. The variations in intensity of the beamdirected to the photomultiplier tube 349 are in proportion to thevarying density of the material being scanned. The output 352 from thephotomultiplier tube 3ft-9 is transmitted to a video amplifier i353`whose output 354 is a voltage varying in amplitude in proportion to thevarying intensity of the beam focused on the photomultiplier tube 349.

To scan the entire -film 341, the beam of the cathode ray tube 348 mustbe made to sweep in a horizontal direction and move in a verticaldirection, or vice versa. ln 'the example shown in the drawings, thebeam is caused to sweep in a horizontal direction by a horizontaldefiection generator 359 that includes a sawtooth generator 360. Thesawtooth generator comprises an operational amplifier 361 with acapacitor 362 connected across it. A switch 363 is connected in parallelwith the capacitor 362 to ydischarge the capacitor when the switch isclosed.

The amplifier 361 has a positive or a negative D.C. voltage inputgenerated by a right-left bistable multivibrator 3&4. The magnitude ofthis voltage is variable according to the setting of a potentiometer365. The function of the `bistable multivibrator 364 is to change theDC. voltage from positive to negative or back to positive, according towhether the direction of the horizontal sweep should be from right toleft or from left to right. The direction of the sweep is dictated bywhether a right or left appendage is being drawn. This is important whendrawing the arms or the legs because the film 341 contains only one armsection 342 and one leg section 343 used for both the right and leftarms and legs of the figure. Therefore, when scanning the skin for theleft arm, the scanner must scan in opposite direction that it scans whenskin is fbeing applied to the right arm. The same is true for the leg.On the other hand, it does not matter in which direction the scanningtakes place for the single head, neck and chest, or for the single hips.However, this method is used to save film space. The -film would haveseparate sections of variable density for each appendage of a figure, asin the case of Captain Hook or Peg Leg Pete. The scanner would beprogrammed accordingly.

The "bistable multivibrator 3645 has two inputs, 36o and 367. As shownin FIGURE 6, one of these inputs, 3de, is -connected through a diode 363to the conductor l2 which, in turn, is the input to the step countergroup 325 for the right arm. Therefore, when a pulse is delivered tothis storage counter group 325, the multivibrator 364 is caused to fiipto its `first condition, say a condition that generates a positive D.C.output. The multivibrator 354 remains in this first condition during theoperation of the storage counter groups 325, 326, 327 and 333 becauseduring this time, there is no voltage input through the conductor 337.However, when a voltage is transmitted through a conductor 369 yfrom thestorage counter group 328 to the first one of the storage counter group329 to draw the left arm, a voltage is also transmitted through aconductor 376, a diode 371, and the conductor 367 to flip themultivibrator 364i to its second position. `ln this second condition,the output `from the multivibrator 364i is a D.C. voltage of theopposite, or negative, polarity. Themultivibrator 364 then remains inthat condition during the period o-f oper-ation of the storage countergroups 329, 330, 331 and 332.

The storage counter group 332 is connected to the group 333 lby aconductor 374. This conductor 374 and the conductor 369 between thestorage counter groups 328 and 329, are shown with releasable plug endsto indicate that changes can be made in the sequence of operation of thestorage counter groups. Actually, the order of operation of thesestorage counters should ordinarily coincide with the positions of thebones, bones nearer the viewer being drawn before bones behind them.

Although the sweep of the cathode ray beam in the tube 3458 may be ineither horizontal direction when scanning the chest, neck and head andthe hips, the connection 374 illustrated causes the sweep to be in thesame direction as the sweep for the right storage counters 325, 32d, 327and 328 because there is a conductor 375 connected from the input 366 ofthe right-left multivibrator .3o/i through a diode 376 to the input sideof the storage counter group 333. This conductor 375 delivers a pulse tothe multivibrator 364 to flip the multivibrator back to its first orpositive output condition when the storage counter group 333 receives apulse.

The input to the sawtooth generator 360, which is always either apositive or a negative DC voltage of constant amplitude coming from themultivibrator 364, causes a gradual buildup of charge on the capacitor362, thereby generating the sloping portion of the sawtooth wave, as isknown in the art.

The switch 363 is normally open, but closes every time it receives asignal through its input 380. The input 380 is connected to the outputof a bistable multivibrator 381, and the input 382 to the bistablemultivibrator 381 is connected to the output of a delay monostablemultivibrator 333.

The input to the delay multivibrator 333 is connected to the square waveoutput 12 from the master oscillator lo.

The -beginning of each square wave pulse causes the delay multivibrator333 to iiip to its quasi-stable state. The input 332 to the bistablemultivibrator 381 occurs at the time that the delay multivibrator flipsback from its quasi-stable state to its stable state. Therefore, thetime that the bistable multivibrator 381 changes Iits state depends uponthe delay time of the delay multivibrator 383. This delay time iscontrolled by another input 384 to the delay multivibrator 383. Theconductor 334 is connected through an adder 385 to the output side of anintegrator that comprises an operational amplifier 386 with a capacitor337 connected across it and a normally open switch connected in parallelwith the capacitor 387 to discharge the capacitor when the switch 388 isclosed. The amplitier 336 has an input 389, and to understand the natureof that input, FiGURE 2 must be reexamined.

Returning to FIGURE 2 and referring particularly to the gates 71, 79,87, and 149N, these are r gates wherein l' is a symbol representing theangular position of the skin about the bone. In other words, if a bone,like an arm bone, is turned, the value of r changes.

These r gates have variable inputs 39), 391, 392, 393 and 3915i forestablishing different voltage values according to the different valuesof r for each bone. When the

1. A METHOD OF PRODUCING AN ANIMATED DISPLAY COMPRISING THE STEPS OFGENERATING A SERIES OF REFERENCE VOLTAGES, SUCH VOLTAGE HAVING ACHARACTERISTIC REPRESENTING LINES ON A DISPLAY SCOPE, EACH OFPREDETERMINED LENGTH ACCORDING TO THE LENGTHS OF PARTS OF AN OBJECT TOBE DISPLAYED, FOR EACH REFERENCE LINE VOLTAGE APPLYING SELECTED VOLTAGESTO THE DEFLECTION PLATES OF THE DISPLAY SCOPE CORRESPONDING TO THEPOSITIONS OF THE REFERENCE LINES, GENERATING A VECTOR VOLTAGE, ANDCONTINUOUSLY ADDING THE VECTOR VOLTAGE TO THE REFERENCE LINE VOLTAGES ASTHEY ARE DRAWN ON THE DISPLAY TUBE.
 8. A SYSTEM FOR PRODUCING ELECTRICALINFORMATION FOR USE IN VIDEO READOUT TO DISPLAY AN ANIMATED MULTI-PARTFIGURE ON THE FACE OF A DISPLAY TUBE COMPRISING A CLOCK, A PLURALITY OFCONTROLS SUCCESSIVELY OPERABLE BY THE CLOCK, EACH FOR A PRESELECTED TIMEDURATION FOR GENERATING FIRST VOLTAGES, THE TIME DURATION OF EACH FIRSTVOLTAGE BEING PROPORTIONED TO THE LENGTH OF A PART OF THE FIGURE, APLURALITY OF POSITION PARAMETER NETWORKS EACH OPERATED BY A FIRSTVOLTAGE, EACH POSITION PARAMETER NETWORK HAVING MEANS TO GENERATE AVOLTAGE FOR THE DURATION OF OPERATION OF THE CONTROL, THE VOLTAGES FROMTHE POSITION PARAMETER NETWORKS BEING PROPORTIONED TO THE POSITIONS OFTHE PARTS OF THE FIGURE WITH RESPECT TO PREDETERMINED REFERENCECOORDINATES, A GENERATING NETWORK INCLUDING MEANS TO GENERATE A VECTORVOLTAGE AND MEANS TO MODULATE THE AMPLITUDE OF THE VECTOR VOLTAGE, AVOLTAGE COMBINING NETWORK FOR ADDING THE MODULATED VECTOR VOLTAGES TOTHE FIRST VOLTAGES.